WO2023276891A1 - 織機およびその制御方法 - Google Patents
織機およびその制御方法 Download PDFInfo
- Publication number
- WO2023276891A1 WO2023276891A1 PCT/JP2022/025366 JP2022025366W WO2023276891A1 WO 2023276891 A1 WO2023276891 A1 WO 2023276891A1 JP 2022025366 W JP2022025366 W JP 2022025366W WO 2023276891 A1 WO2023276891 A1 WO 2023276891A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- circuit
- power supply
- phase
- control signal
- switch
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000001514 detection method Methods 0.000 claims description 21
- 230000005291 magnetic effect Effects 0.000 claims description 17
- 230000003213 activating effect Effects 0.000 claims description 5
- 239000003302 ferromagnetic material Substances 0.000 claims description 3
- 238000009941 weaving Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 15
- 239000003638 chemical reducing agent Substances 0.000 description 8
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 230000005484 gravity Effects 0.000 description 3
- 230000005415 magnetization Effects 0.000 description 3
- 230000010287 polarization Effects 0.000 description 3
- 229910052742 iron Inorganic materials 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Images
Classifications
-
- D—TEXTILES; PAPER
- D03—WEAVING
- D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
- D03D51/00—Driving, starting, or stopping arrangements; Automatic stop motions
- D03D51/18—Automatic stop motions
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
- H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor
- H02P3/22—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor by short-circuit or resistive braking
Definitions
- the embodiment relates to a loom and its control method.
- a loom with an electronic shedding device is known, and the electronic shedding device has a plurality of heald frames.
- the pattern of the cloth and threads can be determined by the type of warp thread to be passed through the heddle frame of the electronic shedding device and the timing of vertical movement of the heddle frame.
- a servo motor for example, is used to move the heald frame up and down.
- an electromagnetic brake or a dynamic brake is used to hold the heald frame in order to stop the vertical movement of the heald frame.
- the electromagnetic brake is configured so that the brake works when power is lost, and when power is lost, the brake automatically activates and mechanically fixes the motor shaft.
- the electromagnetic brake may operate in spite of the fact that the motor is rotating at high speed in the event of an unintended loss of power such as a power failure. Therefore, the electromagnetic brake is likely to deteriorate due to abrasion of the brake contact surface.
- a dynamic brake is a brake that uses an electrical switch to convert the rotational energy of a motor into heat energy and slows down or stops the rotation of the motor. Therefore, when the power supply is interrupted, the dynamic brake may not be able to brake and the heald frame may suddenly drop. For example, there is a case where the loom is stopped and the workers work under the heddle frames. If the power supply is interrupted during the work, the heddle frames may suddenly drop, putting the workers in danger.
- the present invention provides a loom and its control method that are inexpensive and that can suppress the drastic drop of the heddle frame even if the power supply is lost.
- a loom includes a heddle frame, a drive unit for moving the heddle frame up and down, a power supply circuit for supplying power to the drive unit, and a plurality of wires connected between the power supply circuit and the drive unit for transmitting power.
- a switch circuit that short-circuits or opens the plurality of wirings according to a control signal; and a control circuit that supplies the control signal to the switch circuit to control the switch circuit, wherein the switch circuit is connected from the power supply circuit to the drive unit. after the power supply is interrupted, it maintains the shorted or open state based on the last received control signal before the power supply is interrupted.
- FIG. 1 is a configuration diagram showing an example of a loom according to a first embodiment
- FIG. FIG. 2 is a block diagram showing an example of the configuration of the drive unit according to the first embodiment
- FIG. FIG. 2 is a block diagram showing an example of a configuration around a drive unit and a brake mechanism according to the first embodiment
- FIG. 2 is a diagram showing an example of a contact holding type relay switch according to the first embodiment
- FIG. 4 is a diagram showing an example of a short circuit in the contact holding type relay switch according to the first embodiment
- FIG. 5 is a flow diagram showing an example of a method for controlling the loom when the driving unit is stopped according to the first embodiment
- FIG. 4 is a timing chart showing an example of a control method for the loom when the driving unit is stopped according to the first embodiment
- FIG. 4 is a timing chart showing an example of a method of controlling the loom when driving the drive unit according to the first embodiment
- FIG. 5 is a timing chart showing another example of the control method of the loom when driving the drive unit according to the first embodiment
- FIG. 4 is a flowchart showing an example of a method for controlling the loom when driving of the drive unit is started according to the first embodiment
- FIG. 4 is a timing chart showing an example of a method for controlling the loom when starting to drive the drive unit according to the first embodiment
- FIG. 1 is a diagram showing an example of the configuration of a loom 100 according to the first embodiment.
- the loom 100 mainly includes a drive section 20 , a heald frame 30 , and a connecting section 40 that connects the drive section 20 and the heald frame 30 .
- the drive unit 20 includes a motor unit 21, a rotating shaft 22, and a crank arm 23.
- the motor unit 21 rotates the crank arm fixed to the rotary shaft, and imparts a swinging motion in the direction of arrow Y1 to the opening lever 41 rotatably provided on the swing shaft 42 via the connecting rod 24. doing.
- One arm 45 of the opening lever 41 is connected to the lower end of a lifting rod 44 connected to the heald frame 30
- the other arm 43 is connected to the right end of a horizontal rod 46 arranged below the heald frame 30 .
- An auxiliary lever 48 extending in a direction orthogonal to the horizontal rod 46 is provided above the horizontal rod 46 and supported by a shaft 47 so as to be swingable.
- the left end of the horizontal rod 46 is connected to one arm 51 of a swing lever 54 rotatably provided on a swing shaft 53 arranged below the heald frame 30 .
- the other arm 52 of the swing lever 54 is connected to the lower end of a lifting rod 55 connected to the heald frame 30 . Therefore, when the motor portion 21 is driven, the rotational motion of the motor portion 21 in one direction is converted by the crank arm 23 into the linear motion of the connecting rod 24 in the direction of the arrow Y1, and the opening lever 41 reciprocally swings. I do.
- the shedding lever 41 vertically moves the heald frame 30 via the arm 45, the lifting rod 44, the arm 43, the horizontal rod 46, the rocking lever 54, and the lifting rod 55 to perform warp shedding. Therefore, the connecting portion 40 is composed of the connecting rod 24 , the opening lever 41 , the lifting rod 44 , the horizontal rod 46 , the swing lever 54 and the lifting rod 55 .
- the connecting portion 40 By constructing the connecting portion 40, the linear motion of the connecting rod 24 in the direction of the arrow Y1 is converted into the linear motion of the horizontal rod 46 in the direction of the arrow Y2. Then, the linear motion of the horizontal rod 46 in the direction of arrow Y2 is converted into vertical motion of the lifting rods 44 and 55 in the direction of arrow Y3. As a result, the heald frame 30 moves up and down.
- FIG. 2 is a block diagram showing the detailed configuration of the driving section 20 described above.
- FIG. 2 is a block diagram showing an enlarged area A of FIG.
- the drive unit 20 further includes a speed reducer 25, a brake mechanism 26, and a crank rotary disk 27, in addition to the motor unit 21, the rotating shaft 22, and the crank arm 23 described above.
- the speed reducer 25 is provided between the motor portion 21 and the crank rotary disc 27 .
- the speed reducer 25 rotates in the direction of arrow Y5 to output the power of the motor section 21 to the crank rotary disc 27 while reducing the rotational speed of the motor section 21 . Therefore, the speed reducer 25 is joined to the crank rotary disc 27 .
- the crank rotary disc 27 outputs the power of the motor portion 21 output from the speed reducer 25 to the crank arm 23 .
- the crank rotary disk 27 rotates in the arrow Y4 direction around the rotary shaft 22 to output the power of the motor section 21 to the crank arm 23 .
- the arrow Y4 direction is the opposite direction of the arrow Y5 direction, which is the rotation direction of the speed reducer 25 .
- the power of the motor portion 21 is output to the connecting rod 24 via the reduction gear 25 , the crank rotary disk 27 and the crank arm 23 .
- the connecting rod 24 moves linearly in the direction of the arrow Y1.
- a driving mechanism is configured by the rotary shaft 22 , the crank arm 23 , the speed reducer 25 and the crank rotary disk 27 .
- the drive unit 20 vertically moves the heald frame 30 via the drive mechanism, the connecting rod 24 , the horizontal rod 46 , the lifting rod 44 and the lifting rod 55 .
- the motor unit 21 operates the drive mechanism.
- the brake mechanism 26 controls the power of the motor section 21. Specifically, the rotation speed of the motor section 21 is decreased, or the motor section 21 is stopped.
- the brake mechanism 26 includes, for example, an electromagnetic brake or dynamic brake.
- the electromagnetic brake is a brake that mechanically fixes the motor shaft of the motor section 21 .
- the dynamic brake is a brake that can be applied when magnets are used in the stator portion or rotor portion of the motor portion 21 .
- the dynamic brake converts the rotational energy of the motor section 21 into heat energy by using the induced voltage generated by the rotation of the motor section 21 to decelerate or stop the rotation of the motor section 21 .
- FIG. 3 is a block diagram showing the motor section 21, the brake mechanism 26, and the configuration around the motor section 21 and the brake mechanism 26. As shown in FIG. This FIG. 3 is a block diagram showing an enlarged area B in FIG.
- the motor unit 21 includes a servomotor 211 and an encoder 212 .
- a three-phase PM (Permanent Magnet) motor may be used as the servomotor 211 .
- Three-phase PM motors use magnets in the stator or rotor portion. Therefore, a dynamic brake can be applied to the brake mechanism 26 associated with the motor section 21 .
- the servomotor 211 is a three-phase PM motor consisting of U-phase, V-phase, and W-phase. Specifically, the servomotor 211 is a three-phase PM motor composed of a U-phase, a V-phase, and a W-phase in which the induced voltages have phase differences with each other.
- the encoder 212 detects the rotation speed of the servomotor 211 .
- the encoder 212 may include a position sensor, and may detect the position and rotation speed of the servomotor 211 .
- the power supply 223 supplies power to the motor section 21 (drive section 20).
- the power supply 223 is, for example, a commercial AC power supply.
- a transistor bridge circuit 221 as a power supply circuit is connected to the motor section 21 via wiring Cu, Cv, and Cw, receives power supply from a power supply 223, and controls the position, rotation speed, etc. of the motor section 21. .
- the transistor bridge circuit 221 is included in, for example, an inverter.
- the interruption detection circuit 224 detects that the power supply from the power supply 223 to the transistor bridge circuit 221 is interrupted, and transmits an interruption detection signal to the control power supply 225 and the control circuit 226 .
- the control power supply 225 temporarily supplies power to the control circuit 226 and the brake mechanism 26 even after the power supply from the power supply 223 to the transistor bridge circuit 221 is cut off. Even after the power supply to the transistor bridge circuit 221 is cut off, the control circuit 226 and the brake mechanism 26 can continue to operate effectively by power supply from the control power supply 225 .
- the control power supply 225 is, for example, a storage battery or a capacitor element having a power supply voltage of several volts to several tens of volts (approximately 3V to approximately 24V).
- the control circuit 226 supplies control signals to the switch circuits 260A and 260B to control the switch circuits 260A and 260B.
- the control circuit 226 is implemented by, for example, a CPU (Central Processing Unit) having a program that supplies control signals, or a logic circuit such as a PLC (Programmable Logic Controller).
- the control signal includes a first control signal and a second control signal.
- the first control signal is a control signal that is sent from the control circuit 226 to the switch circuits 260A and 260B and puts the switch circuit 260 into a short-circuited state.
- the second control signal is similarly transmitted from the control circuit 226 to the switch circuits 260A and 260B to open the switch circuits 260A and 260B.
- the control circuit 226 is connected to the switch circuit 260A via wiring C1, C2 and the drive circuit 262A, and is connected to the switch circuit 260B via wiring C3, C4 and the drive circuit 262B.
- the control circuit 226 transmits a first control signal to the switch circuit 260A via one of the wiring C1 and the drive circuit 262A, and transmits a second control signal to the switch circuit 260A via the other of the wiring C2 and the drive circuit 262A.
- the control circuit 226 transmits a first control signal to the switch circuit 260B via one of the wiring C3 and the drive circuit 262B, and a second control signal to the switch circuit 260B via the other of the wiring C4 and the drive circuit 262B. to send.
- the brake mechanism 26 includes switch circuits 260A and 260B and a drive circuit 262.
- the switch circuits 260A, 260B 260 are contact holding type relay switch circuits including contact holding type relay switches 261A, 261B. Both the switch circuit 260A and the switch circuit 260B may have the same configuration.
- the brake mechanism 26 is connected to wirings Cu, Cv, and Cw between the transistor bridge circuit 221 and the motor section 21 .
- the switch circuits 260A, 260B are connected between a plurality of wirings Cu, Cv, and Cw that transmit power from the transistor bridge circuit 221 to the motor section 21, and are connected to the plurality of wirings Cu, Cv, and Cw according to the first or second control signal. It is possible to short or open across Cw.
- the control circuit 226 transmits the first control signal to the switch circuit 260A to short-circuit the switch circuit 260A, thereby short-circuiting the wiring Cu and the wiring Cv.
- the control circuit 226 transmits the first control signal to the switch circuit 260B to short-circuit the switch circuit 260B, thereby short-circuiting the wiring Cv and the wiring Cw.
- the control circuit 226 transmits the first control signal to the switch circuits 260A and 260B to short-circuit the switch circuits 260A and 260B, thereby short-circuiting the wiring Cu, the wiring Cv, and the wiring Cw.
- control circuit 226 sends the first control signal to the switch circuit 260A to short-circuit the switch circuit 260A, thereby short-circuiting the U phase and V phase of the servo motor 211.
- the control circuit 226 transmits the first control signal to the switch circuit 260B to short-circuit the switch circuit 260B, thereby short-circuiting the V phase and the W phase of the servomotor 211 .
- the control circuit 226 transmits the first control signal to the switch circuit 260A and the switch circuit 260B to short-circuit the switch circuit 260A and the switch circuit 260B, thereby short-circuiting all of the U-phase, V-phase, and W-phase of the servomotor 211. do.
- the U-phase and V-phase, the V-phase and W-phase, or the U-phase, V-phase and W-phase of the servomotor 211 are short-circuited.
- a short circuit is formed via resistors Ru, Rv and/or Rw.
- the servomotor 211 is a three-phase PM motor composed of a U-phase, a V-phase, and a W-phase in which induced voltages have phase differences with each other. Therefore, a current generated by the induced voltage flows through the short circuit formed in the servomotor 211 via the resistors Ru, Rv, and/or Rw.
- the switch circuit 260A or the switch circuit 260B functions as a dynamic brake for the servomotor 211 by short-circuiting the plurality of wires Cu, Cv and/or Cw. That is, the switch circuit 260A or the switch circuit 260B short-circuits the U-phase and V-phase, the V-phase and the W-phase, or the U-phase, the V-phase and the W-phase of the servomotor 211, thereby causing the dynamic braking of the servomotor 211.
- FIG. 3 shows two switch circuits 260, that is, the switch circuit 260A and the switch circuit 260B, the loom 100 according to the first embodiment can also be realized with one switch circuit 260. .
- the loom 100 can also be realized with three switch circuits.
- an additional switch circuit may be provided between the wiring Cw and Cu.
- the switch circuit not only short-circuits the U-phase and the V-phase, the V-phase and the W-phase, or the U-phase, the V-phase and the W-phase of the servomotor 211, but also the W-phase and the U-layer. It can also function as a dynamic brake.
- the drive circuits 262A, 262B are connected between the control circuit 226 and the switch circuit 260A, and between the control circuit 226 and the switch circuit 260B.
- the drive circuits 262A and 262B amplify the control signals transmitted via the wirings C1 to C4 and transmit them to the switch circuits 260A and 260B. This control signal effectively controls the switch circuit 260A and the switch circuit 260B.
- FIG. 4 is a detailed configuration diagram of the contact holding type relay switch 261A.
- the contact holding type relay switch 261B has the same configuration as the contact holding type relay switch 261A. Therefore, here, the configuration of the contact holding type relay switch 261A will be explained, and the explanation of the contact holding type relay switch 261B will be omitted.
- the contact holding type relay switch 261A includes a terminal 2611, a connecting piece 2612, and a coil 2613.
- the connecting piece 2612 is an example of a movable connecting piece.
- Terminal 2611 includes a ferromagnetic material that is easily magnetized by energizing coil 2613 .
- the connection piece 2612 is operable to come into contact with or separate from the terminal 2611 by the magnetic force of the terminal 2611 .
- the connection piece 2612 contains iron, for example.
- the coil 2613 is provided so as to be wound around the terminal 2611 and causes the terminal 2611 to generate a magnetic force that operates the connection piece 2612 or magnetizes the terminal 2611 .
- Coil 2613 includes coil 2613A and coil 2613B.
- the winding direction of coil 2613A is opposite to the winding direction of coil 2613B.
- the contact holding type relay switch 261A includes a spring 2614, a support piece 2615, an operating shaft 2616, and a switch terminal 2617.
- Spring 2614 is an example of a return spring.
- a spring 2614 is attached to separate the connecting piece 2612 from the terminal 2611 .
- a support piece 2615 supports the connection piece 2612 .
- the movement axis 2616 connects the connection piece 2612 and the support piece 2615 and serves as an axis for movement of the connection piece 2612 in contact and separation.
- a switch terminal 2617 is a terminal that contacts the external switch terminal S1.
- the switch circuit 260 is short-circuited or opened by this contact holding type relay switch 261A.
- the ON state and OFF state of the contact holding type relay switch 261A will be described with reference to FIGS. 5A to 5C.
- the contact holding type relay switch 261A is used in the explanation, and the explanation using the contact holding type relay switch 261B is omitted.
- FIG. 5A is a diagram for explaining the ON state of the contact holding type relay switch 261A.
- the contact holding type relay switch 261A is turned on.
- a current I1 is flowing through the coil 2613A.
- a magnetic field is generated around coil 2613A.
- the terminal 2611 is magnetized by the magnetic field generated around this coil 2613A. Since the terminal 2611 contains a ferroelectric, magnetic field polarization (magnetization) is generated in the terminal 2611, and the terminal 2611 functions as a magnet.
- the connection piece 2612 contains iron, a magnetic force is generated between the connection piece 2612 and the magnetized terminal 2611 .
- the terminal 2611 and the connection piece 2612 are joined, and the switch terminal 2617 and the external switch terminal S1 are joined. That is, the contact holding type relay switch 261A is turned on.
- FIG. 5B is a diagram for explaining the ON state of the contact holding type relay switch 261A after the current is passed through the coil 2613A.
- terminal 2611 contains a ferromagnetic material, and once magnetized, it retains its function as a magnet, like a permanent magnet. As a result, even after the current I1 flowing through the coil 2613A stops, as shown in FIG. 5B, the connection between the terminal 2611 and the connecting piece 2612 continues, and the contact between the switch terminal 2617 and the external switch terminal S1 continues. That is, the ON state of the contact holding type relay switch 261A continues.
- FIG. 5C is an explanatory diagram when the contact holding type relay switch 261A is turned off from the on state.
- a current I2 is passed through the lower coil 2613B.
- the magnetic field generated around the coil 2613B due to the flow of the current I2 is generated in the opposite direction to the magnetic field generated around the coil 2613A due to the flow of the current I1. Therefore, the magnetic field polarization (magnetization) at the terminal 2611 due to the magnetic field generated by the current I2 is opposite to the magnetic field polarization at the terminal 2611 due to the magnetic field generated by the current I1.
- the magnetization of the terminal 2611 magnetized by the current I1 is weakened by the magnetic field by the current I2. Therefore, the magnetic force of the terminal 2611 is reduced. As a result, as shown in FIG.
- the terminal 2611 and the connection piece 2612 are separated in the direction of the arrow Y6, and the switch terminal 2617 and the external switch terminal S1 are separated. That is, the contact holding type relay switch 261 is turned off.
- Spring 2614 assists the separation between terminal 2611 and connecting piece 2612 .
- the contact holding type relay switch 261A is configured to be able to maintain the ON state even after the power supply is cut off. Therefore, after the power supply to the transistor bridge circuit 221 is cut off, the contact holding type relay switch 261A receives the power supply from the control power supply 225 and is once turned on by the first control signal. , or the first control signal is deactivated, the ON state is maintained.
- the contact holding type relay switch 261A releases the held on state and turns off. In other words, the contact holding relay switch 261A is turned off by activating the second control signal.
- the coil 2613 is composed of two coils (the coil 2613A and the coil 2613B), but the loom 100 according to the first embodiment is composed of one coil. H.2613 is also implemented. In this case, when the contact holding type relay switch 261A is turned on and when it is turned off, the directions of the currents flowing through the coil 2613 are opposite to each other, so that the above-described FIGS. , an effect similar to that of FIG. 5C is obtained.
- FIG. 6A is a flowchart for explaining a control method for the loom 100 that suppresses sudden drop of the heald frame 30 when the motor section 21 is stopped.
- the cutoff detection circuit 224 detects that the power supply from the power supply to the transistor bridge circuit 221 has been cut off (step S100). For example, the cutoff detection circuit 224 detects that the power supply to the transistor bridge circuit 221 has been cut off due to a power failure or the like.
- the control circuit 226 brings the transistors of the transistor bridge circuit 221 into a non-conducting state (off state) (step S110). If the transistors of the transistor bridge circuit 221 remain conductive, the current generated by the motor section 21 will flow through the transistor bridge circuit 221 . Therefore, when the motor unit 21 is rotating at high speed, an overcurrent may flow through the transistor bridge circuit 221, leading to failure of the transistor bridge circuit 221. Therefore, the control circuit 226 renders the transistors of the transistor bridge circuit 221 non-conductive in step S110.
- the control circuit 226 confirms that the rotation speed of the motor section 21 is equal to or less than the threshold (step S120). Specifically, the control circuit 226 detects the number of rotations of the motor section 21 by the encoder 212 and confirms that the detected number of rotations of the motor section 21 is equal to or less than the threshold value. If the number of rotations of the motor section 21 is equal to or higher than the threshold (step S120: No), the control circuit 226 waits while checking the number of rotations of the motor section 21 until the number of rotations of the motor section 21 becomes equal to or lower than the threshold.
- the control circuit 226 short-circuits the switch circuit 260A or 260B after the rotational speed of the motor section 21 becomes equal to or less than the threshold value.
- step S120 If the number of revolutions of the motor unit 21 is equal to or less than the threshold (step S120: Yes), the control circuit 226 causes the contact holding type relay switches 261A and 261B via the drive circuit 262 to short-circuit the switch circuit 260. A control signal is transmitted (step S130). As a result, the contact holding type relay switch 261 is turned on, and the wiring Cu, Cv or Cw of the motor section 21 is short-circuited. Therefore, a short circuit is formed in the motor section 21 through the resistor Ru, Rv, or Rw. As a result, dynamic braking to the motor section 21 becomes effective. In this case, when the upper heald frame 30 suddenly drops, an induced current flows through the short circuit and dynamic braking is applied. Therefore, the heald frame 30 slowly descends due to gravity and the braking function of the dynamic brake. In this manner, even when the number of revolutions of the motor section 21 is below the threshold and is almost stopped, the sudden drop of the heald frame 30 is suppressed.
- FIG. 6B is a timing chart showing the operation of the loom 100 when the servomotor 211 of the motor section 21 has already stopped when the power supply is cut off.
- the cutoff detection circuit 224 detects cutoff of the power supply (t2).
- the control circuit 226 opens (off) the transistors of the transistor bridge circuit 221 (t3). Note that the control power supply 225 continues to supply power to the control circuit 226 and the contact holding type relay switches 261A and 261B for a while even if the power supply is interrupted. The control circuit 226 disconnects the transistor of the transistor bridge circuit 221 from the connection with the motor section 21.
- control circuit 226 confirms that the number of revolutions of the motor section 21 has become equal to or less than the threshold, and the contact holding type A first control signal is transmitted to the relay switch 261 (t4).
- the contact holding type relay switch 261 is turned on when receiving the first control signal (t5). After the contact holding type relay switch 261 is turned on, the first control signal becomes inactive (t6), and the supply of control power is stopped (t7).
- the second control signal for turning off the contact holding type relay switch 261 is inactive during the period from t1 to t7.
- the loom 100 can keep the contact holding type relay switch 261 even when the power supply from the power source is interrupted. remains on. In other words, after the power supply from the transistor bridge circuit 221 to the drive unit 20 is cut off, the loom 100 short-circuits or opens the switch circuit 260 based on the last control signal received before the power supply is cut off. Hold state. As a result, even when the power supply from the power supply is interrupted, the dynamic brake to the motor section 21 is effective.
- FIG. 7A is a timing chart showing the operation of the loom 100 when the power supply is interrupted while the servomotor 211 of the motor section 21 is rotating.
- the cutoff detection circuit 224 detects cutoff of the power supply (t2).
- the control circuit 226 opens (off) the transistors of the transistor bridge circuit 221 (t3). Note that the control power supply 225 continues to supply power to the control circuit 226 and the contact holding type relay switches 261A and 261B for a while even if the power supply is interrupted.
- the control circuit 226 transmits the first control signal to the contact holding type relay switch 261 (t5).
- the contact holding type relay switch 261 is turned on when receiving the first control signal (t6). After the contact holding type relay switch 261 is turned on, the first control signal becomes inactive (t7), and the supply of control power is stopped (t8). The second control signal for opening the contact holding type relay switch 261 is inactive during t1 to t8.
- the loom 100 can keep the contact holding type relay switch 261 even when the power supply from the power source is interrupted. remains on. In other words, after the power supply from the transistor bridge circuit 221 to the drive unit 20 is cut off, the loom 100 maintains the shorted or open state based on the last control signal received before the power cutoff. As a result, even when the power supply from the power supply is interrupted, the dynamic brake to the motor section 21 is effective.
- FIG. 7B is a timing chart showing the operation of the loom 100 when power supply is interrupted while the servomotor 211 of the motor section 21 is rotating, as in FIG. 7A.
- FIG. 7B shows a case where, for example, the number of rotations of the motor unit 21 is high when the power supply is cut off, and the idling time of the motor unit 21 is relatively long after the power supply is cut off.
- the interruption detection circuit 224 detects interruption of the power supply (t2).
- the motor unit 21 continues to rotate after the power supply is cut off until the control power supply is stopped.
- the control circuit 226 opens (off) the transistors of the transistor bridge circuit 221 (t3).
- the control power supply 225 continues to supply power to the control circuit 226 and the contact holding type relay switches 261A and 261B for a while even if the power supply is interrupted.
- the encoder 212 confirms that the rotation speed of the motor section 21 is equal to or less than the threshold (t4). As described above, in FIG.
- the control circuit 226 transmits the first control signal to the contact holding type relay switch 261 (t5).
- the contact holding type relay switch 261 receives the first control signal, but the power supply from the control power supply is stopped and the OFF state is maintained (t6). Therefore, the contact holding type relay switch 261 is in the OFF state between t1 and t6.
- the second control signal for turning off the contact holding type relay switch 261 is inactive during the period from t1 to t6.
- the control circuit 226 transmits the first control signal to the contact holding type relay switch 261, for example, the power from the control power source 225 is turned off before the contact holding type relay switch 261 is turned on. If stopped, the contact holding type relay switch 261 may not be turned on. In other words, dynamic braking to the motor section 21 may not be effective. In this case, the motor portion 21 rotates and the heald frame 30 moves up and down until the supply of control power is stopped. Therefore, for example, the worker does not work under the heald frame 30, and as a result, the safety of the worker can be ensured.
- FIG. 8A is a flowchart for explaining the control method of the loom 100 when the motor section 21 is restored from a state in which the power supply to the motor section 21 is cut off.
- FIG. 8B is a timing chart for explaining the control method of the loom 100 when the motor section 21 is restored from a state in which the power supply to the motor section 21 is cut off. The power restoration operation of the loom 100 will be described with reference to FIGS. 8A and 8B.
- the power supply 223 is turned on (S200 in FIG. 8A, t1 in FIG. 8B), and power is supplied to the interruption detection circuit 224, the control power supply 225, the control circuit 226, the transistor bridge circuit 221, the brake mechanism 26, and the motor section 21. (S210 in FIG. 8A, t2 in FIG. 8B). Thereby, the control power supply 225 is charged. Also, the interruption detection circuit 224 is restored, and becomes a state in which it is possible to detect interruption of power supply from the power supply 223 to the transistor bridge circuit 221 (t3 in FIG. 8B).
- the control circuit 226 causes the contact holding type relay switches 261A and 261B to open the switch circuit 260.
- a second control signal is transmitted (S220 in FIG. 8A, t4 in FIG. 8B).
- the second control signal is activated in a pulse shape, and falls after a predetermined period of time has elapsed after rising (t6 in FIG. 8B).
- the contact-holding relay switches 261A and 261B are turned off (t5 in FIG. 8B), and the wiring Cu, Cv, or Cw of the motor section 21 is opened.
- the loom 100 resets the switch circuit 260 to the open state by activating the second control signal, thereby disabling the dynamic brake. Release and start vertical movement of the heald frame 30 . Therefore, even when the power is restored after being cut off, the vertical movement of the heald frame 30 can be smoothly started or resumed.
- Control power supply 226 Control circuit 23 Crank arm 25 Reducer 26 Brake mechanism 260 (260A, 260B) Switch circuit 261 (261A, 261B) Contact holding type relay switch 262 (262A, 262B) Drive Circuit 2611 Terminal 2612 Connection piece 2613 Coil 2614 Spring 2615 Support piece 2616 Operation shaft 2617 Switch terminal 27 Crank rotary disc 30 Heddle frame 40 Connection part C1 to C4: wiring, Cu, Cv, Cw: wiring, Ru, Rv, Rw: resistance, S1: external switch terminal
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Textile Engineering (AREA)
- Looms (AREA)
- Stopping Of Electric Motors (AREA)
Abstract
Description
(織機100の構成)
図1は、第1実施形態に係る織機100の構成の一例を示す図である。織機100は、主として、駆動部20と、綜絖枠30と、駆動部20および綜絖枠30を連結する連結部40とを備えている。
このようにして、駆動部20は、駆動機構と、連結ロッド24と、水平ロッド46と、昇降ロッド44および昇降ロッド55とを介して、綜絖枠30を上下動させる。なお、モータ部21は駆動機構を動作させる。
さらに、接点保持型リレースイッチ261Aは、ばね2614と、支持片2615と、動作軸2616と、スイッチ端子2617とを備える。ばね2614は、復帰ばねの一例である。ばね2614は、接続片2612を端子2611から離間させるように取り付けられている。支持片2615は、接続片2612を支持する。動作軸2616は、接続片2612と支持片2615とを結合し、接続片2612の接触および離間の動作の軸となる。スイッチ端子2617は、外部スイッチ端子S1に接触する端子である。この接点保持型リレースイッチ261Aにより、スイッチ回路260の短絡または開放が行われる。
次に、第1実施形態に係る織機100の制御方法について説明する。
これにより、電源からの電力供給が遮断された場合にも、モータ部21へのダイナミックブレーキが有効になる。これにより、綜絖枠30が急落下しようとすると、モータ部21における抵抗Ru、Rv、およびRwを含む短絡回路に誘起電流が流れ、モータ部21にダイナミックブレーキがかかる。このため、綜絖枠30は、重力とダイナミックブレーキの制動機能とによりゆっくりと下降し、急落下が抑制される。このため、例えば、綜絖枠30の下で作業を行う作業員の安全を、電源からトランジスタブリッジ回路221に、電力供給が遮断された場合にも確保することができる。
これにより、電源からの電力供給が遮断された場合にも、モータ部21へのダイナミックブレーキが有効になる。モータ部21の回転数が閾値以下となることで、または、モータ部21の回転が停止することで、綜絖枠30が急落下しようとすると、モータ部21における抵抗Ru、Rv、およびRwを含む短絡回路に誘起電流が流れ、モータ部21にダイナミックブレーキがかかる。このため、綜絖枠30が上下動している際に、電源から電力供給が遮断された場合でも、綜絖枠30は、重力とダイナミックブレーキの制動機能とによりゆっくりと下降し、急落下が抑制される。これにより、綜絖枠30の急落下を抑制することができる。したがって、例えば、綜絖枠30の近傍で作業を行う作業員の安全を、電源からトランジスタブリッジ回路221に、電力供給が遮断された場合にも確保することができる。
次に、エンコーダ212が、モータ部21の回転数が閾値以下であることを確認する(t4)。上述のように、図7Bでは、モータ部21の回転数が大きいため、電力供給の遮断からの空転時間が比較的長い。言い換えると、電力供給の遮断から、モータ部21の回転数が閾値以下になるまでの時間が比較的長い。次に、モータ部21の回転数が閾値以下になったならば、制御回路226は、接点保持型リレースイッチ261に第1制御信号を送信する(t5)。接点保持型リレースイッチ261は、第1制御信号を受信するが、制御電源からの電力供給が停止され、オフ状態が保持される(t6)。したがって、接点保持型リレースイッチ261は、t1~t6の間でオフ状態である。なお、接点保持型リレースイッチ261をオフ状態にする第2制御信号は、t1~t6の間は不活性である。
Claims (14)
- 綜絖枠と、
前記綜絖枠を上下動させる駆動部と、
前記駆動部に電力を供給する電力供給回路と、
前記電力供給回路から前記駆動部へ電力を伝達する複数の配線間に接続され、制御信号に従って該複数の配線間を短絡または開放するスイッチ回路と、
前記制御信号を前記スイッチ回路へ供給し、前記スイッチ回路を制御する制御回路とを備え、
前記スイッチ回路は、前記電力供給回路から前記駆動部への電力供給が遮断された後、該電力供給が遮断される前に最後に受信した前記制御信号に基づく短絡または開放の状態を保持する、織機。 - 前記駆動部は、前記綜絖枠を動作させる駆動機構と、
前記駆動機構を動作させるモータとを備える、請求項1に記載の織機。 - 前記スイッチ回路は、前記複数の配線を短絡することによって前記モータのダイナミックブレーキとして機能する、請求項2に記載の織機。
- 前記モータは、誘起電圧が互いに位相差を有するU相、V相、および、W相からなる3相モータであり、
前記スイッチ回路は、前記U相と前記V相、前記V相と前記W相、前記W相と前記U相、または、前記U相と前記V相と前記W相とを短絡することによって、前記モータのダイナミックブレーキとして機能する、
請求項2または請求項3に記載の織機。 - 前記スイッチ回路は、接点保持型リレースイッチを含む、請求項1から請求項4のいずれか一項に記載の織機。
- 前記接点保持型リレースイッチは、
強磁性体を含む端子と、
前記端子の磁力によって、前記端子に接触しあるいは該端子から離間するように動作可能な可動接続片と、
前記端子に設けられ、前記可動接続片を動作させる磁力を該端子に発生させるコイルと、
を備える請求項5に記載の織機。 - 電源から前記電力供給回路への電力供給が遮断されたことを検知し、該電力供給の遮断を示す遮断検知信号を出力する遮断検知回路をさらに備え、
前記電力供給回路は、前記遮断検知信号に応じて前記駆動部への電力供給を停止する、請求項1から請求項6のいずれか一項に記載の織機。 - 前記駆動部のモータの回転数を検知する速度検出器をさらに備え、
前記遮断検知信号に応じて前記駆動部への電力供給を停止した後、前記モータの回転数が閾値以下になった場合に、前記制御回路は、前記制御信号によって前記スイッチ回路を短絡状態にする、請求項7に記載の織機。 - 前記制御信号は、前記スイッチ回路を短絡状態にする第1制御信号と、前記スイッチ回路を開放状態にする第2制御信号とを含み、
前記第1制御信号が活性化されて前記スイッチ回路が短絡状態になった後、
前記制御回路が前記第1制御信号を不活性化しても前記スイッチ回路は短絡状態を維持する、請求項1から請求項8のいずれか一項に記載の織機。 - 前記制御回路が前記第2制御信号を活性化することによって前記スイッチ回路は開放状態になる、請求項9に記載の織機。
- 綜絖枠と、前記綜絖枠を上下動させる駆動部と、前記駆動部に電力を供給する電力供給回路と、前記電力供給回路から前記駆動部へ電力を伝達する複数の配線間に接続され、制御信号に従って該複数の配線間を短絡または開放するスイッチ回路と、前記制御信号を前記スイッチ回路へ供給する制御回路とを備える織機の制御方法であって、
前記電力供給回路から前記駆動部への電力供給が遮断された後、
該電力供給が遮断される前に最後に受信した前記制御信号に基づく短絡または開放の状態を保持することを具備する、織機の制御方法。 - 前記駆動部は、誘起電圧が互いに位相差を有するU相、V相、および、W相からなる3相モータであり、
前記スイッチ回路は、前記U相と前記V相、前記V相と前記W相、前記W相と前記U相、または、前記U相と前記V相と前記W相とを短絡することによって、前記駆動部のダイナミックブレーキとして機能する、請求項11に記載の織機の制御方法。 - 前記織機は、前記駆動部のモータの回転数を検知する速度検出器と、電源から前記電力供給回路への電力供給が遮断されたことを検知し、該電力供給の遮断を示す遮断検知信号を出力する遮断検知回路とをさらに備え、
前記遮断検知信号に応じて前記駆動部への電力供給を停止し、
前記遮断検知信号に応じて前記駆動部への電力供給を停止した後、前記モータの回転数が閾値以下になった場合に、前記制御回路は、前記制御信号によって前記スイッチ回路を短絡状態にすることを具備する、請求項11または請求項12に記載の織機の制御方法。 - 前記制御信号は、前記スイッチ回路を短絡状態にする第1制御信号と、前記スイッチ回路を開放状態にする第2制御信号とを含み、
前記第1制御信号が活性化されて前記スイッチ回路が短絡状態になり、
前記第1制御信号を不活性化しても前記スイッチ回路は短絡状態を維持し、
前記第2制御信号を活性化することによって前記スイッチ回路を開放状態にすることをさらに具備する、請求項11から請求項13のいずれか一項に記載の織機の制御方法。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202280045971.0A CN117581471A (zh) | 2021-06-28 | 2022-06-24 | 织机及其控制方法 |
EP22833038.7A EP4366151A1 (en) | 2021-06-28 | 2022-06-24 | Loom, and method for controlling same |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2021-107094 | 2021-06-28 | ||
JP2021107094A JP2023005297A (ja) | 2021-06-28 | 2021-06-28 | 織機およびその制御方法 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2023276891A1 true WO2023276891A1 (ja) | 2023-01-05 |
Family
ID=84691428
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2022/025366 WO2023276891A1 (ja) | 2021-06-28 | 2022-06-24 | 織機およびその制御方法 |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP4366151A1 (ja) |
JP (1) | JP2023005297A (ja) |
CN (1) | CN117581471A (ja) |
WO (1) | WO2023276891A1 (ja) |
Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05171540A (ja) * | 1991-12-21 | 1993-07-09 | Tsudakoma Corp | 織機の綜絖枠駆動方法 |
JPH0668766A (ja) * | 1992-08-20 | 1994-03-11 | Nippon Telegr & Teleph Corp <Ntt> | 静電駆動式自己ラッチ形リレー |
JPH06178567A (ja) | 1992-12-04 | 1994-06-24 | Yaskawa Electric Corp | ダイナミックブレーキ回路を具備するモータ駆動回路 |
JPH09247804A (ja) | 1996-03-11 | 1997-09-19 | Yaskawa Electric Corp | 自律移動台車の斜面走行時における停止装置 |
JP2003204686A (ja) | 2002-01-08 | 2003-07-18 | Nissan Motor Co Ltd | 車両用モーターファン制御装置 |
JP2005219914A (ja) * | 2004-02-09 | 2005-08-18 | Toshiba Elevator Co Ltd | 乗客コンベア制御装置および制御方法 |
JP2006191722A (ja) | 2005-01-05 | 2006-07-20 | Matsushita Electric Ind Co Ltd | ダイナミックブレーキ回路保護装置 |
JP2006196358A (ja) * | 2005-01-14 | 2006-07-27 | Matsushita Electric Works Ltd | パワーリレー |
JP2008154386A (ja) * | 2006-12-19 | 2008-07-03 | Matsushita Electric Ind Co Ltd | モータ制御装置 |
JP2010167429A (ja) | 2009-01-21 | 2010-08-05 | Kurosaki Harima Corp | スライディングノズル制御装置及びそれを用いたスライディングノズル装置 |
JP2020061851A (ja) | 2018-10-09 | 2020-04-16 | ファナック株式会社 | モータ駆動装置 |
-
2021
- 2021-06-28 JP JP2021107094A patent/JP2023005297A/ja active Pending
-
2022
- 2022-06-24 CN CN202280045971.0A patent/CN117581471A/zh active Pending
- 2022-06-24 EP EP22833038.7A patent/EP4366151A1/en active Pending
- 2022-06-24 WO PCT/JP2022/025366 patent/WO2023276891A1/ja active Application Filing
Patent Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05171540A (ja) * | 1991-12-21 | 1993-07-09 | Tsudakoma Corp | 織機の綜絖枠駆動方法 |
JPH0668766A (ja) * | 1992-08-20 | 1994-03-11 | Nippon Telegr & Teleph Corp <Ntt> | 静電駆動式自己ラッチ形リレー |
JPH06178567A (ja) | 1992-12-04 | 1994-06-24 | Yaskawa Electric Corp | ダイナミックブレーキ回路を具備するモータ駆動回路 |
JPH09247804A (ja) | 1996-03-11 | 1997-09-19 | Yaskawa Electric Corp | 自律移動台車の斜面走行時における停止装置 |
JP2003204686A (ja) | 2002-01-08 | 2003-07-18 | Nissan Motor Co Ltd | 車両用モーターファン制御装置 |
JP2005219914A (ja) * | 2004-02-09 | 2005-08-18 | Toshiba Elevator Co Ltd | 乗客コンベア制御装置および制御方法 |
JP2006191722A (ja) | 2005-01-05 | 2006-07-20 | Matsushita Electric Ind Co Ltd | ダイナミックブレーキ回路保護装置 |
JP2006196358A (ja) * | 2005-01-14 | 2006-07-27 | Matsushita Electric Works Ltd | パワーリレー |
JP2008154386A (ja) * | 2006-12-19 | 2008-07-03 | Matsushita Electric Ind Co Ltd | モータ制御装置 |
JP2010167429A (ja) | 2009-01-21 | 2010-08-05 | Kurosaki Harima Corp | スライディングノズル制御装置及びそれを用いたスライディングノズル装置 |
JP2020061851A (ja) | 2018-10-09 | 2020-04-16 | ファナック株式会社 | モータ駆動装置 |
Also Published As
Publication number | Publication date |
---|---|
JP2023005297A (ja) | 2023-01-18 |
CN117581471A (zh) | 2024-02-20 |
EP4366151A1 (en) | 2024-05-08 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6285477B2 (ja) | ダイナミックブレーキ回路保護機能を有するモータ駆動装置 | |
JP5421405B2 (ja) | ダイナミックブレーキ制御手段を備えるモータ駆動装置 | |
EP2062348B1 (en) | Method and apparatus for braking a motor | |
WO2011051571A1 (en) | Braking apparatus, electric drive, and elevator system | |
US20180026558A1 (en) | Motor Control Circuit, Motor Drive Control Apparatus And Control Method Of Motor Drive Control Apparatus | |
KR101690000B1 (ko) | 브레이크를 구비한 전동기 | |
JP2017158259A (ja) | トルク指令制限部を有するモータ制御装置 | |
JP2019037095A (ja) | モータの駆動制御装置およびモータの駆動制御方法 | |
WO2023276891A1 (ja) | 織機およびその制御方法 | |
JP4524663B2 (ja) | 車両用電圧制御装置 | |
JP2009213290A (ja) | モータの駆動装置 | |
KR102154541B1 (ko) | 고정자 분리형 듀얼 모터 및 이의 안전 제어 시스템 | |
US10516351B2 (en) | Electrical drive for an industrial robot | |
KR20210130811A (ko) | 전동모터용의 제어장치 및 이를 구비한 로봇, 및 전동모터의 제어방법 | |
US20090230897A1 (en) | Electric motor | |
JP5843962B2 (ja) | 安全回路を備えた電気機械 | |
EP2086103B1 (en) | Method and apparatus for stopping servo motor | |
TWI696535B (zh) | 短路裝置及具備其之機器人系統 | |
JP5224655B2 (ja) | 電気車制御装置 | |
CN108377028A (zh) | 纺纱机及为纺纱机提供交流备用电力供应的方法 | |
JP2018129945A (ja) | モータシステム | |
JP3624271B2 (ja) | 磁気軸受装置 | |
JP6620242B2 (ja) | 巻上機および巻上機の制御方法 | |
JP2024522920A (ja) | 電磁軸受を備えた電気機械 | |
CN118357926A (zh) | 关节制动方法、制动电路、驱动板、制动***及机器人 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 22833038 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 202280045971.0 Country of ref document: CN |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2022833038 Country of ref document: EP |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
ENP | Entry into the national phase |
Ref document number: 2022833038 Country of ref document: EP Effective date: 20240129 |